[From Bill Powers (971219.0535 MST)]
Bruce Abbott (971218.1145 EST)--
Sounds good. For starters, let's review all the important discoveries about
mind and behavior that have been made through documented empirical PCT
research over the past 50 years.
That would take us back to about 1948, which isn't a bad span to consider,
although it's five years before I got interested in control theory and
started to learn it. Sixty or 65 years would take us back to the 1930s,
when electrical engineers were just starting to work out the principles of
control with electromechanical systems. That might be an even better place
to start.
The main documented discoveries during these earliest years concerned
things that we now rather take for granted; the basic functions required
for control, such as sensing, comparison with reference signals, and
conversion of error signals to output with suitable dynamic filtering to
achieve stability. In these early years, all the design work was aimed at
automating tasks formerly done by human beings, such as adjusting
voltage-balancing circuits to read the voltage of a standard cell, or
adjusting generator outputs of power plants to compensate for changes in
the load, or aiming guns on board a rolling ship. All these tasks were of
one particular kind: they involved variable actions that had to be adjusted
on the fly to maintain something in the environment in a constant condition
or bring something to some desired state and keep it there, in the presence
of unpredictable disturbances. Open-loop machines of the kind that had been
prevalent since before the Industrial Revolution could not do this sort of
thing; only human beings could. This is why all those old machines had
human operators: not to act like another cog in the industrial machine, but
to do all those variable and unpredictable things that needed to be done to
keep the classical machine working right. Charlie Chaplin's "Modern Times"
captured the picture of the human cog in the machine, but missed the fact
that only a human being could have put a wrench on a passing bolt and
tighten it by just the amount needed.
In developing these surrogates for the human operator, the early electrical
engineers were actually building models of human behavior, although they
didn't consider that their primary objective. So I think we could say that
the real research on PCT began with these engineers, who of course left
behind a great deal of documentation.
During World War II, cybernetics began to form and culminated in Wiener's
1948 book. At the same time, many "engineering psychologists" began to
investigate the human operator, for the first time representing what the
human being in a man-machine system was doing explicitly as a control
process. Biologists and physiologists also started using analog computing
as a way of simulating control systems within the body: biochemical
systems, reflexes, and other regulatory processes. The first steps were
taken toward analyzing neuromuscular control systems. There was a fairly
extensive literature in all these fields, although the technical nature of
the analyses restricted the number of people who could understand what they
meant. As an aside, Bandura once published a diagram of an analog computing
setup being used by, I think, some British investigators to analyse a
physiological system. Bandura used it as an example of a model that nobody
could possibly understand.
I was inspired by reading Wiener's book in about 1952. Wiener had mentioned
the fact the some control loops might extend outside the body, so that
control theory could apply to more than balancing the body or maintaining
body temperature. By 1953 I had realized that feedback control could be
involved in all aspects of behavior, and I began to learn about it, aided
by analog computers which themselves contained many lessons about how
feedback works. I learned about control of input not from servomechanism
theory but from reading about how the operational amplifiers in an analogue
computer worked. The critical comment made by one writer was that an
operational amplifier can most easily be understood as maintaining its
negative input at the same voltage as its positive input, via the feedback
path where the computing components were placed. When I read that I
suddenly understood how human control systems work, and that was the true
beginning of PCT.
During the 1950s, with Bob Clark, I did my first experiments with human
control systems. The equipment was crude and the ideas often misguided, but
gradually a picture started to form of a hierarchy of control, and I began
to see how it might be possible to simulate control and thus evaluate the
parameters of real human control systems. I spent a lot of time building
gadgets to measure control properties. One of them still sits in my storage
shed -- the original of the apparatus Dick Robertson later emulated with a
computer and used to do the work on nested reaction times in his "Phantom
Plateau" paper. In those days only oscilloscopes and strip-chart or X-Y
recorders were available for displaying controlled variables and recording
the results of experiments; my analog computer got hooked into many of
these experiments as a handy way of providing the control electronics. And
I built many a rat's nest of vacuum-tube circuits and many a
cobbled-together pneumatic actuator, the equipment and design time being
unintentionally subsidized by the V. A. Research Hospital where all this
took place. It was here, by the way, that I established the true reaction
time in a spinal motor control system as being something under 50
milliseconds; this was done by hooking up an electromyograph to pronator
teres and finding the earliest correlated spike after a mechanical
disturbance of a handle that a person was holding steady in torsion gainst
mechanical disturbances (that measure, it turns out, is much too long).
Even then, psychologists were saying that feedback is too slow, and I
wanted to show that it isn't.
There were many other experiments along the way. If any of them had been
picked up by others, the way Skinner's little "cumulative record" device
got picked up and used, there would doubtless be a large literature
relating to them. But of course in the late 1950s, when we were trying to
get psychologists interested in these things, the digital computer was
already on the scene and starting to take over, and there was little
interest in our arcane explorations. It wsn't long before everyone more or
less forgot how to "do analog."
After the 1960 papers, Clark, MacFarland, and I split up and I went off to
try to get a degree in psychology because Don Campbell pulled some strings
and got me a scholarship at Northwestern. I lasted one year in that
Spencian department, and then went to work at the Dearborn Observatory
building low-light-level TV cameras for astronomy. I was pretty well burned
out on control theory, especially with respect to getting any psychologists
to take it seriously. I gave one paper at a biophysical society meeting,
then ten years later published the paper (the Verhave rat experiment) in
_Behavioral Science_, but that was all I had the heart to do. If it weren't
for Don Campbell (again!) I suppose I might have eventually given up on the
whole thing. But he kept after me to write the book that became B:CP, and
he and Hugh Petrie arranged for me to give talks at lunchtime seminars and
give a student-sponsored seminar, and just generally wouldn't let me quit.
So in 1973 B:CP came out and I looked forward to becoming rich and famous.
After the book, I gave lots of seminars and wrote lots of papers for
various journals, most by invitation, and started meeting the people who
are still interested in PCT -- and scads more who weren't. I acquired a
PDP8-e and started trying to model tracking behavior again, the model
getting simpler and simpler and fitting the data better and better. I wrote
the Byte articles, and the Spadework article where I published some of the
results of the computer experiments (I had to trace the computer displays
using a half-silvered mirror, since plotters were beyond my means). Still
no spark.
Well, the rest is recent history. The documented discoveries are mostly
pretty simple, showing how people can control different kinds of visual
variables and sound variables. Marken, Bourbon, Robertson, and Goldstein,
and of course Tom Bourbon's students and others, have all done and
published PCT experimental studies. There are some people, notably Tim
Carey, putting the ideas about levels of control into practice, but
documentation is still to come.
I think that the kernel of documented discoveries is there. Any one of them
could be used as a jumping-off point for all kinds of research, should
there be a surge of interest in PCT. Skinner's revolution consisted
primarily of hundreds of people doing the same experiment over and over in
dozens of different labs, each experimenter adding his own twists and
exploring his own ideas. The same thing would happen if a lot of people
caught on to PCT and starting ringing the changes, looking for new
phenomena. The fact that this hasn't happened in PCT is an accident of the
times, a result of competition with other ideas that became established
much earlier and were more compatible with traditional thinking.
Best,
Bill P.